JP7373507B2 - A delivery system with an access point and how to access the access point of the delivery system - Google Patents

Description

The present invention provides an automated storage and retrieval system that includes a storage grid for the storage of storage containers and a delivery system for the delivery of said storage containers between the storage grid and access points of the delivery system. ), as well as methods of operating delivery vehicles into and out of access points.

The invention also relates to an access point for a delivery system, where there are two or more paths to and/or from the access point for a remotely operated delivery vehicle transporting storage containers. It is arranged like this.

1A and 1C disclose a typical prior art automated warehouse system 1 with a framework structure 100. FIG. 1B and 1D disclose a prior art container handling vehicle 101 operating the system 1 disclosed in FIGS. 1A and 1C, respectively.

Framework structure 100 includes a plurality of upright members 102 and, optionally, a plurality of horizontal members 103 that support the upright members 102. The members 102, 103 may typically be made from metal, for example from an extruded aluminum profile.

The framework structure 100 defines a storage grid 104 that includes storage columns 105 arranged in rows, with storage containers 106 (also known as vessels) within the storage columns 105. ) are stacked one on top of the other to form a stack 107.

Each storage container 106 can typically hold multiple product items (not shown), and the product items within the storage container 106 can be the same or It can be of different product types depending on the application.

Storage grid 104 prevents horizontal movement of storage containers 106 in stack 107 and guides vertical movement of storage containers 106, but typically does not otherwise move storage containers 106 when stacked. I don't support it.

The automated warehouse system 1 includes a rail system 108 arranged in a grid pattern across the top of the storage 104 and having a plurality of rails (as illustrated in FIGS. 1B and 1D). Container handling vehicles 200 , 300 are operated on rail system 108 to raise and lower storage containers 106 from storage column 105 and into storage column 105 . The storage container 106 is transported above. The horizontal extent of one of the grid cells 122 making up the grid pattern is marked by a thick line in FIGS. 1A and 1C.

Each grid cell 122 has a width typically in the range of 30 cm to 150 cm and a length typically in the range of 50 cm to 200 cm. Each grid opening 115 has a width and length that is typically 2 cm to 10 cm less than the width and length of the grid cell 122 due to the horizontal extent of the rails 110, 111.

The rail system 108 includes a first set of parallel rails 110 and a second set of parallel rails 111, the first set of parallel rails 110 extending across the top of the frame structure 100 to a first set of parallel rails 110. arranged to guide movement of the container handling vehicle 200, 300 in direction X, the second set of parallel rails 111 being arranged perpendicular to the first set of rails 110; It guides the movement of the container handling vehicle 200, 300 in a second direction Y that is perpendicular to the first direction X. The rail system 108 thus defines a grid column above which the container handling vehicles 200, 300 can move laterally above the storage column 105, i.e. It is possible to move in a plane that is parallel to the horizontal XY plane.

Each prior art container handling vehicle 200, 300 includes a vehicle body and a wheel arrangement 201, 301 of eight wheels, the first set of four wheels moving the container handling vehicle 200 in the X direction. , 300, and the remaining four wheels of the second set allow lateral movement in the Y direction. One or both sets of wheels in the wheel arrangement may be raised and lowered such that the first set of wheels and/or the second set of wheels are on the respective set of rails at any time. 110, 111.

Each prior art container handling vehicle 200, 300 also includes a lifting device (not shown) for vertical transportation of storage containers 106, e.g. for raising and lowering the storage container 106 into the storage column 105. The lifting device includes one or more gripping/engaging devices (not shown) that are adapted to engage the storage container 106 and gripping/engaging devices (not shown). The engagement device may be lowered from the vehicle 201, 301 such that the position of the gripping/engagement device relative to the vehicle 201, 301 may be adjusted in a third direction Z, the third direction Z being , perpendicular to the first direction X and the second direction Y.

Conventionally, and for the purposes of this application, Z=1 identifies the top layer of grid 104, i.e., the layer immediately below rail system 108, and Z=2 , identifies the second tier below the rail system 108, Z=3 identifies the third tier, and so on. In the exemplary prior art grid 104 disclosed in FIGS. 1A and 1C, Z=8 identifies the bottom layer at the bottom of the grid 104. Consequently, by way of example and using the Cartesian coordinate system X, Y, Z shown in FIGS. 1A and 1D, the storage container identified as 106' in FIG. Or it can be said to occupy cells X=10, Y=2, Z=3. The container handling vehicle 101 may be said to travel in layer Z=0, and each grid column may be identified by its X and Y coordinates.

Each container handling vehicle 200 includes a storage compartment or space (not shown) for receiving and storing storage containers 106 as they are transported across rail system 108. The storage space may, for example, include a cavity centrally located within the vehicle body, as described in WO 2014/090684A1, the content of which is incorporated herein by reference. is incorporated into.

Alternatively, the container handling vehicle 300 can have a cantilevered structure as described in NO 317366, the contents of which are also incorporated herein by reference.

The container handling vehicle 200 may have a predetermined footprint, i.e., an extent in the X and Y directions, that is generally equal to the lateral extent of the grid cells 122, i.e. As described, it is generally equivalent to the extent of grid cells 122 in the X and Y directions, the contents of which are incorporated herein by reference. As used herein, the term "lateral" can mean "horizontal."

Alternatively, the container handling vehicle 200 has a footprint that is larger than the lateral extent of the grid column 105 (the lateral area defined by the grid column 105), for example as disclosed in WO2014/090684A1. It is possible to have

Rail system 108 can be a single rail system, as shown in FIG. 2A. Alternatively, the rail system 108 can be a double rail system, as shown in FIG. 2B, and thus has a footprint that generally corresponds to the lateral area defined by the grid columns 112. allows a container handling vehicle 201 having a container handling vehicle 201 to proceed along a row of grid columns (even if another container handling vehicle 200 is positioned above a neighboring grid column of that row). Both single-rail and double-rail systems, or combinations that include single-track and double-track configurations in single-rail system 108, include a plurality of rectangular and uniform grid locations or grid cells 122, with horizontal forming a grid pattern in a plane P, where each grid cell 122 includes a grid aperture 115 that is connected to a pair of rails 110a, 110b of the first rail 110; and is bounded by a pair of rails 111a, 111b of a second set of rails 111. In FIG. 2B, grid cells 122 are indicated by dashed boxes.

Consequently, rails 110a and 110b form a pair of rails that define parallel rows of grid cells running in the X direction, and rails 111a and 111b define parallel rows of grid cells running in the Y direction. They form a pair of rails.

As shown in FIG. 2C, each grid cell 122 has a width W _c , typically in the range of 30 cm to 150 cm, and a length L, typically in the range of 50 cm to 200 cm. It has _c . Each grid opening 115 has a width W _o and a length L _o that is typically 2 cm to 10 cm less than the width W c _and length L _c of grid cell 122 .

In the X and Y directions, neighboring grid cells are placed in contact with each other such that there are no spaces between them.

Within the storage grid 104, the majority of the grid columns are storage columns 105, ie grid columns 105 in which storage containers 106 are stored in stacks 107. However, grid 104 typically has at least one grid column that is not used to store storage containers 106, and the at least one grid column is such that container handling vehicles 200, 300 106 so that the storage container 106 can be transported to a second location (not shown), where the storage container 106 can be accessed from outside of grid 104 or transported out of or into grid 104. In the art, such locations are commonly referred to as "ports" and the grid columns in which the ports are located may be referred to as "delivery columns" 119, 120. The container handling vehicle drop and collection ports are referred to as "distribution column upper ports" 119, 120. The opposite end of the delivery column, on the other hand, is referred to as the "lower delivery column port."

Storage grid 104 in FIGS. 1A and 1C includes two delivery columns 119 and 120. The first delivery column 119 may, for example, include a dedicated drop port, where container handling vehicles 200, 300 are transported through the delivery column 119 and further to an access or transfer station. , storage containers 106 can be dropped, and the second delivery column 120 can also include a dedicated collection port, where container handling vehicles 200, 300 It is possible to collect the storage containers 106 that have been transported from the station through the delivery column 120. Each of the ports of the first and second delivery columns may include ports suitable for both collecting and dropping storage containers.

The second location can typically be a picking station or stocking station where product items are removed from or positioned into the storage container 106. At a picking or stocking station, storage containers 106 are typically never removed from automated warehouse system 1, but are returned to storage grid 104 once accessed. There is also a lower port provided in the delivery column for the transfer of storage containers out of or into storage grid 104, such lower port being e.g. For transporting the storage container 106 to another storage facility (eg, to another storage grid), directly to a transport vehicle (eg, train or lorry), or to a production facility.

In order to monitor and control the automated warehouse system 1 (e.g., so that the desired storage containers 106 can be delivered to the desired location at the desired time without container handling vehicles 200, 300 colliding with each other), the storage grid 104 The automated warehouse system 1 includes a control system (not shown) for monitoring and controlling the location of each storage container 106 in the storage container; the contents of each storage container 106; The control system is typically computerized, and the control system typically includes a database for tracking storage containers 106.

A conveyor system including a conveyor may be used to transport storage containers between a lower port of a delivery column and an access station.

If the lower port of the delivery column and the access station are located at different levels, the conveyor system can include a lift device to transport the storage containers vertically between the port and the access station. It is.

The conveyor system may be arranged to transfer storage containers between different grids, for example as described in WO2014/075937A1, the contents of which are incorporated herein by reference. .

Furthermore, WO 2016/198467A1 (the contents of which document are incorporated herein by reference) provides that storage containers are used between the delivery column and the workstation (where the operator can access the storage containers). Discloses an example of a prior art access system having a conveyor belt (Figs. 5a and 5b in WO 2016/198467A1) and a frame-mounted rail (Figs. 6a and 6b in WO 2016/198467A1) for transporting are doing.

When a storage container 106 stored in the grid 104 disclosed in FIG. from its location and to transport the intended storage container 106 to or through the delivery column 119. This action involves moving the container handling vehicle 200, 300 to a location in the grid above the storage column 105 in which the intended storage container 106 is positioned, and initiating a lifting device (not shown) on the container handling vehicle. use, which involves retrieving storage container 106 from storage column 105 and transporting storage container 106 to delivery column 119. If the destination storage container 106 is positioned deep within the stack 107, i.e., one or more other storage containers are positioned above the destination storage container 106. In , the operation also involves temporarily moving the storage container positioned above, before lifting the intended storage container 106 from the storage column 105 . This step (which is sometimes referred to in the art as "digging") is performed by the same container handling vehicle 200, 300 that is subsequently used to transport the intended storage container 106 to the delivery column. or may be implemented by one or more other cooperating container handling vehicles 200, 300. Alternatively or additionally, the automated warehouse system 1 may have container handling vehicles 200, 300 specifically dedicated to the task of temporarily removing storage containers 106 from storage columns 105. Once the destination storage container 106 is removed from the storage column 105, the temporarily removed storage container may be repositioned into the original storage column 105. However, the removed storage container may alternatively be repositioned to another storage column 105.

When a storage container 106 is to be stored in the grid 104, one of the container handling vehicles 200, 300 collects the storage container 106 from the delivery column 120 and the storage column in which it is to be stored. The storage container 106 is instructed to be transported to a location in the grid above 105 . After any storage container positioned at or above the desired location in the storage column stack 107 is removed, the container handling vehicle 200, 300 positions the storage container 106 at the desired location. The removed storage container can then be lowered back into the storage column 105 or repositioned in another storage column 105.

A problem associated with known automated warehouse systems 1 is that the areas surrounding the collection and drop ports can become congested by container handling vehicles 200, 300 that are instructed to drop or collect storage containers 106. It means that there is. This may seriously impede the operation of the automated warehouse system 1. In small systems, this situation can potentially be alleviated by adding delivery columns to the grid. The reason is that this will allow container handling vehicles 200, 300 to be distributed among a larger number of shipping column ports to avoid congestion. However, when ports and columns are added, the conveyor system infrastructure typically must be increased. This requires space, which may not always be available. Also, adding conveyor system infrastructure is costly.

Another problem with the prior art automated warehouse system 1 is that the separate drop and collection ports of the delivery columns 119, 120 prevent the container handling vehicle 200, 300 from using the storage column 105 after dropping to retrieve a new storage container 106. This means that it is necessary to move to. Similarly, container handling vehicles 200, 300 must be free of storage containers 106 when they are sent to collection port 120 to collect storage containers. This results in inefficiency and causes increased congestion around the port. This is because the container handling vehicles 200, 300 are moving around on the grid without the storage containers 106 on board. Additionally, delivery columns 119, 120 may occupy space above grid 104 that may be used for other purposes, such as moving container handling vehicles 200, 300.

In view of the above, an automated warehouse system and for operating such a system that solves or at least alleviates one or more of the above-mentioned problems associated with the use of prior art warehouse systems. It is desirable to provide a method for

It is an object of the present invention to provide an automated warehouse system that is more effective than prior art systems by avoiding or at least reducing crowding of storage containers around delivery columns.

Another object is to provide an automated warehouse system that improves the availability of delivery columns for container handling vehicles operating on rail systems.

Another objective is to provide a highly efficient automated warehouse system that is easy to install and whose delivery capacity can be easily increased after installation is complete.

Yet another object is to provide a dedicated area where storage containers and items held therein can be handled effectively and easily, and where the storage containers can be handled in the correct order.

The invention is set out in the independent claims, and the dependent claims set out alternatives to the invention.

In the following, the term "remotely operated delivery vehicle" will be referred to as "delivery vehicle" and the term "automated warehouse grid" will be referred to as "storage grid". The term "storage container" is also known in the prior art as "vessel". The term "picking and stocking station" is also referred to as "access station" or "accessing station."

The present invention is an automated warehouse system comprising: a storage grid for storage of storage containers; and transportation of said storage containers between a delivery port of the storage grid and an access point of a delivery system. delivery system, wherein the access point is adapted for handling of items held in storage containers by a robotic operator or a human operator.

The delivery system is
- a delivery rail system comprising at least a first set of parallel rails and at least a second set of parallel rails, the first set of parallel rails being arranged in a horizontal plane (P1); a second set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X); a delivery rail system extending in two directions (Y), the first and second sets of rails together defining a delivery grid of delivery grid cells;
- a remote-controlled delivery vehicle, the remote-controlled delivery vehicle comprising a motorized vehicle body and a container carrier, the container carrier including a motorized vehicle body for transporting a storage container; The delivery vehicle includes a remotely operated delivery vehicle movable on the delivery grid of the delivery rail system.

The delivery grid provides one or more delivery grid cells for remotely operated delivery vehicles at the access point and a plurality of delivery grid cells adjacent to the one or more delivery grid cells at the access point. and there is more than one path to and/or from the access point for the remotely operated delivery vehicle through multiple delivery grid cells, and the remote controlled delivery vehicle is arranged to transport the storage container from the storage grid's delivery port across the delivery grid to the access point, and is also arranged to transport the storage container back to the delivery port for storage within the storage grid. has been done.

A storage grid for the storage of storage containers includes a storage grid rail system arranged in a grid pattern across the top of the storage grid, and on top of the rail system, a plurality of container handling vehicles. is operated to raise the storage container from the storage column, to lower the storage container into the storage column, and to transport the storage container above the storage column.

The storage grid has at least one grid column, where the at least one grid column is not used to store the storage containers, and the at least one grid column is used for container handling vehicles to store the storage containers. The storage container includes a location where it can be dropped and/or collected, and the storage container can be transported to an access station of the delivery system, where it can be accessed.

The container handling vehicle drop and collection ports are referred to as the "upper ports" of the delivery column. Regarding the opposite end of the delivery column, the port towards the delivery system is referred to as the delivery port. A shipping port is thus defined as the port (grid cell) at which a storage container enters or exits a storage grid.

A delivery rail system is located between the location vertically below the delivery port of the storage grid and the access point where items held within the storage container are adapted to be handled by a robotic or human operator. Extending. A remotely operated delivery vehicle is positioned for transportation of storage containers between the delivery port and the access point.

In order to obtain maximum storage space for storage containers within the warehouse grid, it is advantageous to arrange the delivery rail system in such a way that it extends as little as possible into the storage grid. there is a possibility. That means that the warehouse grid can include multiple storage columns extending from the upper level to the base of the storage grid, thus allowing the maximum possible storage capacity. The reason is that the entire storage column can be used for storage.

In order to maintain the maximum possible storage capacity, the portion of the delivery rail system that extends into the storage grid may be kept as small as possible (to a small extent). Delivery rail systems and delivery vehicles can thus occupy as little space as possible in the warehouse grid, which space can be used for storage of storage containers.

Moreover, at least one (preferably each) of the plurality of delivery vehicle grid cells of the delivery rail system may be located directly below a container handling vehicle grid cell of the container handling vehicle rail system. A delivery rail system may extend within the framework structure of the storage grid. Therefore, the second location will be located inside the framework structure of the storage grid.

The delivery rail system can extend outside the framework structure of the storage grid, preferably to an access point. When access points are located outside the storage grid, they do not occupy the storage capacity of the grid.

The delivery rail system may include a first rail system positioned within the framework structure of the storage grid and a second rail system positioned outside the framework structure of the storage grid. Possibly, the first and second rail systems are connected such that a delivery vehicle can operate between said rail systems.

The access point may be connected to the second rail system.

An access point can include one single grid cell of a distribution grid system, or an access point can include two or more distribution grid cells. The delivery vehicle is operated such that when it is positioned at the access point, it allows a human operator and/or a robotic operator to access the contents of the storage container.

According to the invention, a delivery vehicle has more than one route to and/or from an access point via multiple delivery grid cells. This allows the operator to adjust the order in which delivery vehicles can enter or exit the access point.

In embodiments, the delivery vehicle is capable of entering the access point at a first end and exiting the access point at a second end, and the storage containers enter the access point one after the other in succession. It is now possible to do so.

The access point includes one or more delivery grid cells for delivery vehicles at the access point. The distribution grid further provides a plurality of distribution grid cells adjacent to the one or more distribution grid cells of the access point such that more than one path to and/or from the access point exists. ing. For example, each grid cell of access points may include four entrances or exits for delivery vehicles, two in the X direction and two in the Y direction. be. The access point has three entrances or exits (e.g. two in the X direction and one in the Y direction). Thus, in this embodiment, the delivery vehicle can enter or exit the access point from above in the Y direction and from the two ends in the X direction. This allows the delivery vehicle to have at least three paths to and from the access point, thus allowing one delivery vehicle to pass another delivery vehicle in the order of arrival at the access station. It means to do it.

An access point may be defined as a predetermined location where storage containers can be accessed and/or handled. The term "handling storage containers" includes stocking items into or picking items from containers and introducing containers into or removing containers from a storage grid. is possible. The access point can be any predetermined location that allows the storage container to be accessed from a location outside the storage grid.

The access point may be located within a container access station that is arranged to separate human operators from the delivery rail system and delivery vehicle.

The delivery grid can extend to or into the container accessing station. The delivery grid provides one or more delivery grid cells for remotely operated delivery vehicles at the access point and a plurality of delivery grid cells adjacent to the delivery grid cell at the access point, and provides multiple delivery grid cells for remotely operated delivery vehicles at the access point. There is now more than one path to and/or from an access point for a remotely operated delivery vehicle through a grid cell. The remotely operated delivery vehicle is positioned to transport storage containers from storage grid delivery ports across the delivery grid to container access station access points, and for storage within the storage grid. Return the storage container to the shipping port.

Container access stations may include means to protect human operators from delivery system components (rails and delivery vehicles) and to allow easy handling of storage containers and their contents. It is. Said means can be any one of a wall or a cabinet.

The container access station can include a wall, and the access point extends over the wall for items in the storage container being transported by the remotely operated delivery vehicle. It may be an area corresponding to one or more delivery grid cells of the delivery grid that is arranged on the delivery grid side of the wall at a location that can be reached by a robot operator or a human operator.

In certain embodiments, the container access station can be a cabinet having a sidewall and a top plate, the top plate being arranged such that it defines an interior volume of the cabinet. The interior volume includes an open end such that a delivery rail system extends into the interior volume of the cabinet. More specifically, at least one distribution grid cell of the distribution grid system extends into the interior volume of the cabinet.

In some embodiments, the container access station includes a cabinet including an opening provided above the access point, through which items held within the storage container can be accessed at the access point. It is. An opening may be provided in the top plate of the cabinet such that items held within the storage container are accessible from above.

While located at the access point, the delivery vehicle may be operated such that its container carrier and storage container are in a tilted position. The tilted position of the storage container provides easier access to the contents and improved visibility of the contents of the storage container in addition to a better working position for the human operator. A better working position is directed towards reducing the strain on the human operator's back and knees.

In embodiments, the delivery rail system provides a delivery grid that includes three or more adjacent rows of delivery grid cells extending to or into a container access station.

For example, a container access station can include a cabinet that covers at least three grid cells: one left grid cell, one middle grid cell, and one right grid cell. The access point may be located in an intermediate grid cell, and the delivery vehicle enters the cabinet in the left grid cell and moves to the intermediate grid cell, where the delivery vehicle is stopped and the robot operator or The storage container can be accessed by at least one of the human operators, and the delivery vehicle is then operated such that it moves further to the right grid cell before it exits the cabinet. It can be done.

The container accessing station may be provided with an activation device, such as a switch, pushbutton, or lever, for restarting the delivery vehicle after a storage container has been accessed at an intermediate grid cell location. In operation, at least one of a robot operator or a human operator can access the contents of the storage container while positioned at the access point. After the storage container has been accessed, at least one of the robot operator or human operator can press an activation device, causing the delivery vehicle to move forward and another delivery vehicle to access it. Allows access to points.

In embodiments, a container access station may be provided adjacent to the storage grid or may be removed from the storage grid, and a delivery rail system is provided between the delivery port of the storage grid and the container access station. It is located. Accordingly, storage containers may be transported across a delivery rail system between said delivery port and a container access station.

The remotely operated delivery vehicle is adapted to be movable on the delivery rail system. Moreover, the delivery rail system can be a single rail system or a double rail system. The delivery rail system defines a grid pattern over which the delivery vehicle can move laterally.

In embodiments, delivery systems can benefit from many of the considerations provided with respect to storage grid rail systems and container handling vehicles. In order to expedite production and ensure low costs, it is preferred to use components that have already been designed and tested. It is therefore considered advantageous for each grid cell of the delivery rail system to have a size that is equal to or similar to the size of the grid cell of the rail system for container handling vehicles.

More specifically, each grid cell of the delivery rail system may have a width typically within a spacing of 30 cm to 150 cm and a length typically within a spacing of 50 cm to 200 cm. It is possible. Each grid opening of the delivery rail system can have a width and length that is typically 2 cm to 10 cm less than the width and length of the grid cells.

The horizontal plane P1 of the delivery rail system is arranged below the horizontal plane P of the rail system of the storage grid.

A container access station may be located above the ground floor level such that storage containers are accessible to human and/or robotic operators without a platform or the like. The delivery rail system may thus be placed on a vertical support element and the horizontal plane (P1) of the delivery rail system may be positioned at any suitable vertical level above the ground floor level. It looks like this.

Generally, the delivery rail system is located at any level below the upper level of the storage grid. Preferably, the delivery rail system is located at a level below the delivery port of the storage grid.

A delivery port may be located above a mezzanine level of the storage grid, and a delivery vehicle may be positioned below the mezzanine level to deliver storage containers to or receive storage containers from the delivery port. be able to operate on delivery rails provided by A mezzanine level is actually a raised base or floor of a storage grid that provides a "roof" over the area worked by delivery vehicles. The mezzanine level is therefore adapted to the overall height of the storage container when positioned above the delivery vehicle and to the height of the delivery rail system. This means that the upright members of the storage grid framework must be made short so that they can be suspended above the mezzanine level. The mezzanine may be supported by upright support posts extending out from the delivery column for support of the mezzanine. The height of the upright support posts defines the height of the mezzanine level (the rails of the delivery rail system can themselves be suspended above the floor of the warehouse building).

Furthermore, the extent of the mezzanine in the horizontal plane depends, at least in part, on the total number of distribution columns arranged in the storage grid. Therefore, the number of delivery columns and the size (extent) of the mezzanine in the X and Y directions can be customized according to the overall size of the storage system and the desired efficiency of the system. Consequently, the adoption of delivery columns means a loss of storage space within the storage grid. However, the benefit is improved delivery efficiency of storage containers within automated warehouse systems. The reason is that congestion of storage containers in the delivery columns is avoided or at least reduced by the delivery system according to the invention.

The present invention also provides for storage between the collection port/drop port of the delivery system and the access point where items held within the storage container are adapted to be handled by a robotic or human operator. Concerning a delivery system for transporting containers.

The delivery system is
- a delivery rail system comprising at least a first set of parallel rails and at least a second set of parallel rails, the first set of parallel rails being arranged in a horizontal plane (P1); a second set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X); a delivery rail system extending in two directions (Y), the first and second sets of rails together defining a delivery grid of delivery grid cells;
- A remote-controlled delivery vehicle, wherein the remote-controlled delivery vehicle includes a motorized vehicle body and a container carrier, and the container carrier is a motorized delivery vehicle for transporting one of the storage containers. The delivery vehicle includes a remotely operated delivery vehicle provided on the vehicle body and movable on a delivery grid of the delivery rail system.

The delivery grid provides one or more delivery grid cells for remotely operated delivery vehicles at the access point and a plurality of delivery grid cells adjacent to the one or more delivery grid cells at the access point. and there is more than one path to and/or from the access point for the remotely operated delivery vehicle through multiple delivery grid cells, and the remote controlled delivery vehicle is arranged to transport the storage container from the collection port/drop port of the delivery system across the delivery grid to the access point, and is arranged to transport the storage container back to the collection port/drop port of the delivery system. ing.

The collection port/drop port of the delivery system constitutes a delivery grid cell, which is located below the delivery column of the storage grid and when a delivery vehicle is positioned at the collection port/drop port. The delivery vehicle is positioned such that it can receive storage containers from the storage grid through the delivery column and onto the delivery vehicle.

The delivery rail system includes at least one transfer zone for temporarily storing storage containers on the delivery vehicle during transportation between a delivery port of the storage grid and a container access station. is possible. This may be an area where delivery vehicles may line up on their route to the access point. A transfer zone may configure one or more delivery grid cells for delivery vehicles in the transfer zone. The transfer zone may be located inside or outside the container access station.

The invention also relates to a method of operating a remotely operated delivery vehicle into and out of an access point of a delivery rail system, the access point being an item held in a storage container that has been delivered to the access point. location on the delivery rail system for access by robotic or human operators.

The delivery system is
- a delivery rail system comprising at least a first set of parallel rails and at least a second set of parallel rails, the first set of parallel rails being arranged in a horizontal plane (P1); a second set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X); a delivery rail system extending in two directions (Y), the first and second sets of rails together defining a delivery grid of delivery grid cells;
- a remotely operated delivery vehicle comprising a motorized vehicle body and a container carrier, the container carrier being provided on the motorized vehicle body and carrying a storage container; a remotely operated delivery vehicle adapted to carry, the delivery vehicle being movable on a delivery grid of the delivery rail system;
The delivery grid provides one or more delivery grid cells for remotely operated delivery vehicles at the access point and a plurality of delivery grid cells adjacent to the delivery grid cell at the access point, and provides multiple delivery grid cells for remotely operated delivery vehicles at the access point. There is now more than one path to and/or from an access point for a remotely operated delivery vehicle through a grid cell.

The method is
a) operating the delivery vehicle and directing the delivery vehicle to one of a plurality of delivery grid cells adjacent to the one or more delivery grid cells of the access point;
b) a delivery vehicle so as to enter a delivery grid cell of the one or more grid cells at the access point from one of the plurality of delivery grid cells adjacent to the one or more delivery grid cells of the access point; The steps to operate
c) enabling a robot operator or a human operator to access items held in a storage container at the access point;
d) directing the delivery vehicle to exit the one or more delivery grid cells of the access point toward one of the plurality of delivery grid cells adjacent to the one or more delivery grid cells of the access point; and a step of operating the method.

An access point may be provided in a container access station positioned to separate the robotic or human operator from the delivery rail system and the remotely operated delivery vehicle. The distribution grid thus extends to or into the container access station.

The following drawings are included to facilitate an understanding of the invention.

1 is a perspective view of a prior art automated warehouse system, showing the complete system; FIG. 1 is a perspective view of a prior art automated warehouse system and a diagram illustrating an example of a prior art container handling vehicle capable of operating the system; FIG. 1 is a perspective view of a prior art automated warehouse system; FIG. 1 is a perspective view of a prior art automated warehouse system; FIG. 1 is a perspective view of a prior art automated warehouse system, showing the complete system; FIG. 1 is a perspective view of a prior art automated warehouse system and a diagram illustrating an example of a prior art container handling vehicle capable of operating the system; FIG. 1 is a perspective view of a prior art automated warehouse system; FIG. 1 is a side view of a remotely operated delivery vehicle according to an embodiment of the invention. FIG. 1 is a side view of a remotely operated delivery vehicle according to an embodiment of the invention. FIG. 1 is a side view of a remotely operated delivery vehicle according to an embodiment of the invention. FIG. FIG. 1 is a perspective view of a remotely operated delivery vehicle according to an embodiment of the invention. FIG. 1 is a perspective view of a remotely operated delivery vehicle according to an embodiment of the invention. FIG. 1 is a perspective view of a remotely operated delivery vehicle according to an embodiment of the invention. 4B is a perspective view of the remote-controlled delivery vehicle of FIG. 4A from below; FIG. 4B is a perspective view of the remote-controlled delivery vehicle of FIG. 4A from below; FIG. FIG. 2 is a perspective view of another automated warehouse grid and distribution system according to an embodiment of the invention. FIG. 2 is a perspective view of another automated warehouse grid and distribution system according to an embodiment of the invention. 1 is a perspective view of an exemplary set of container access stations; FIG. 1 is a perspective view of an exemplary set of container access stations; FIG. FIG. 2 is a perspective view of another example automated warehouse grid and distribution system including a container access station. FIG. 2 is a perspective view of another example automated warehouse grid and distribution system including a container access station. FIG. 2 is a perspective view of another example automated warehouse grid and distribution system including a container access station. FIG. 2 is a perspective view of another example automated warehouse grid and distribution system including a container access station. FIG. 2 is a top view of another exemplary automated warehouse grid and distribution system in accordance with the present invention.

In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter illustrated in the drawings. Moreover, even if some of the features are described in relation to the system only, it is clear that they are equally valid in relation to delivery vehicles and related methods, and vice versa. It is. Accordingly, any features described in relation to delivery vehicles only and/or related methods are also valid with respect to the system.

In the following, embodiments of the invention will be discussed in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter illustrated in the drawings. Moreover, even if some of the features are described in relation to the system only, it is clear that they are equally valid in relation to delivery vehicles and related methods, and vice versa. It is. Accordingly, any features described in relation to delivery vehicles only and/or related methods are also valid with respect to the system.

Referring to FIGS. 1A to 1D, the storage grid 104 of each storage structure 1 constitutes a framework 100 of 143 grid columns 112 in total, and the width and length of the framework are as follows: This corresponds to the width and length of 13 and 11 grid columns 112. The top layer of the framework 100 is a rail system 108 on which a plurality of container handling vehicles 200, 300 are operated.

The framework 100 of the storage system 1 is constructed according to the above-mentioned prior art framework 100 described above, namely, a plurality of upright members 102 and a plurality of horizontal members supported by the upright members 102. The horizontal member 103 is constructed according to the directional member 103 and further includes a rail system 108 of parallel rails 110, 111 in the X and Y directions, respectively, arranged across the top of the storage column 105. It is constructed according to that. The horizontal area of a single grid cell 122, ie, along the X and Y directions, may be defined by the distance between adjacent rails 110 and 111, respectively (see also FIGS. 3 and 4). In FIGS. 1A and 1C, such grid cells 122 are marked on the rail system 108 by thick lines.

The rail system 108 allows the container handling vehicles 200, 300 to move horizontally between different grid locations, each grid location being associated with a grid cell 122.

In FIGS. 1A and 1C, storage grid 104 is shown with a height of eight cells. However, it is understood that the storage grid 104 can in principle be of any size. In particular, it will be appreciated that the storage grid 104 can be significantly wider and/or longer than that disclosed in FIGS. 1A and 1C. For example, grid 104 may have a horizontal extent of more than 700x700 grid cells 122. Also, the grid 104 can be significantly deeper than that disclosed in FIGS. 1A and 1C. For example, storage grid 104 can be greater than 12 grid cells deep.

The storage container vehicle 200, 300 can be of any type known in the art, for example one of the automated container handling vehicles disclosed in WO2014/090684A1, NO317366 or WO2015/193278A1. It is possible to be any one of the following.

Rail system 108 can be a single rail system, as shown in FIG. 2A. Alternatively, rail system 108 can be a double rail system, as shown in FIG. 2B. Details of single-rail and double-rail systems are disclosed herein under the background section.

3A-3C illustrate an embodiment of a remotely operated delivery vehicle 30 (hereinafter referred to as delivery vehicle 30) according to the present invention.

Delivery vehicle 30 is configured for transporting storage containers 106 (not shown) between automated warehouse grid 104 (see FIGS. 7A and 7B) and access point 161, and automated warehouse grid 104 is , configured to store a plurality of stacks 107 of storage containers 106 (hereinafter referred to as storage grid 104), and access point 161 provides access to storage containers 106 by at least one of a robotic operator and a human operator. are provided in a container access station 160 for handling.

The delivery vehicle 30 includes a vehicle main body 31, rolling devices 32a and 32b connected to the vehicle main body 31, and a rolling device for driving the rolling devices 32a and 32b in a horizontal plane (P). It includes a motor and a power source 43 connected to the rolling device motor 33. Power source 43 should provide sufficient power to a rolling device motor (not shown) to propel rolling device 32a, 32b over a set route from storage grid 104 to access point 65, for example. .

Delivery vehicle 30 may further include a container carrier 35 mounted above vehicle body 31 . The container carrier 35 should be configured to receive the storage container 106 on or in the container carrier 35, such that the storage container 106 is prevented from sliding along the horizontal plane (P1). It has become.

Container carrier 35 may include a container support device that supports storage container 106 from below.

3A-3B, a container carrier 35 is disclosed in the form of a storage container receiving compartment having a bottom/base and side walls. The volume of the compartment, in this exemplary configuration, is adapted to receive and contain the horizontal extent of the storage container and at least a portion of the vertical extent of the storage container. 3A-3C illustrate an example of a container carrier 35 containing an entire storage container 106, and FIGS. 4A-4B illustrate an alternative container carrier 35 containing a portion of a storage container 106. .

The particular configuration of container carrier 35 disclosed in FIGS. 3A-3C allows delivery vehicle 30 to transport storage containers 106 having different heights.

Note that the size of the compartments within container carrier 35 can be easily adapted to receive and support multiple storage containers 106 in one operation.

3B and 3C show a particular configuration of a delivery vehicle 30, in which the container carrier 35 may be set in an inclined position relative to the vehicle body 31 and the horizontal plane (P1). . The container carrier 35 can be tilted by a dedicated displacement device. The tilting may take place about a pivot axis oriented in the main direction of movement of the delivery vehicle 30. If the delivery vehicle 30 moves on vertical rails (see below), these primary directions will be either the X direction or the Y direction.

Tilting the displacement device can be obtained, for example, by a lifting arm 45 that is connected to the vehicle body 31 and the container carrier 35. Additionally, lifting arm 45 may be driven by a dedicated tilt motor 42 or rolling device motor, or both.

The displacement device is shown in FIGS. 3B and 3C, with an L-shaped lifting arm 45 connected to the vehicle body 31 on one side and fixed to the container carrier 35 on the opposite side. It is connected to a structure. The latter end of the arm 45 may also be directly connected to the container carrier 35.

The tilt motor 42 is seen to be located completely inside the vehicle body part 31 and is also used directly or indirectly to move the lifting arm 45 between the lower and upper positions. In the lower position, the container carrier 35 is not tilted with respect to the horizontal plane (P), and in the upper position, the container carrier 35 is connected to the lifting arm 45. (P). Note that the horizontal plane (P) may be defined as the plane set by the particular configuration of the wheels 32a, 32b of the rolling device 32.

3A-3C and 4A-4C show perspective views of delivery vehicle 30. FIGS. Rolling device 32, in this exemplary configuration, includes:
- located on either side of a vertical center plane through the vehicle body 31 for moving the delivery vehicle 30 along a first direction (e.g. along the X direction) on the delivery rail system; a first set of wheels 32a;
- a vertical direction through the vehicle body 31 for moving the delivery vehicle 30 along a second direction perpendicular to the first direction X (e.g. along the Y direction) on the delivery rail system; and a second set of wheels 32b disposed on opposite sides of the center plane.

FIG. 4C illustrates yet another exemplary configuration of a remotely operated delivery vehicle 30. In this configuration, the container carrier 35 includes a base plate, a conveyor disposed on the base plate, and two side walls projecting upwardly from the base plate. Rolling device 32 and vehicle body 31 are equal to or similar to rolling device 32 and vehicle body 31 described above in connection with FIGS. 3-5.

The conveyor may be set up, inter alia, by a plurality of parallel oriented rolls 36 having a common longitudinal direction perpendicular to the two side walls. The rolls 36 thus allow one or more storage containers 106 to be shifted into or out of the container carrier 35 while being guided by the side walls. The conveyor may be connected to a conveyor motor that allows rotation of one or more of the rolls.

5A and 5B show delivery vehicle 30 from below. As can be clearly seen in FIG. 5A, the vehicle body 31 of the delivery vehicle 30 is equipped with one or more dedicated tilt motors 42, one or more truck shift motors 41, a battery 43, etc. It includes an internal component-receiving recess or compartment for containing components, such as one or more power storage sources and one or more control cards, such as a CPU and/or Power PCB 44 . The above-mentioned components are therefore located in the vehicle body 31 below the container carrier 35.

The storage container receiving compartment of the container carrier 35, in this particular configuration, has a rectangular bottom plate or base plate with vertical side walls. The vertical sidewalls can be of any height so long as they ensure that the storage container 106 is restricted from moving along the base plate of the container carrier.

For example, the size of compartment 35 corresponds to the size of storage container 106, thereby allowing storage container 106 to be completely contained.

In cases where the container carrier 35 is configured to support multiple storage containers 106, the size of the vertical walls can be, in one example, the height of each storage container 106. , the size of the base plate can be the sum of the cross-sectional areas of all storage containers 106 measured relative to the lateral outer edges of the storage containers 106.

FIG. 5B shows a delivery vehicle 30 as described above with a vehicle body 31 and a rolling device 32 of eight wheels 32a, 32b. With respect to the delivery vehicle shown in FIGS. 3-5, a first set of four wheels 32a enable lateral or horizontal movement of the delivery vehicle 30 in a first direction and a second set of four wheels 32a. The remaining four wheels 32b of the set allow lateral or horizontal movement in a second direction, which may be perpendicular to the first direction.

When used on the delivery rail system 50, the first set of wheels 32a and/or the second set of wheels 32b are always aligned with the respective set of rails provided on the delivery rail system 50. One or both sets of wheels 32a, 32b of rolling device 32 should be raised and lowered so that they can be engaged.

Perspective views of the automated warehouse system are shown in FIGS. 6-9. The system includes a storage grid 104 and a delivery system 140 that includes a delivery rail system 50, a plurality of delivery vehicles 30, and an access point 65 provided within a container access station 60. .

The storage grid 104 includes a prior art storage grid 104 as described above, that is, a rail system 108, a plurality of stacks 107 of storage containers 106, and storage containers 106 stacked within the stacks 107. Equal to or similar to a storage grid 104 that includes a plurality of container handling vehicles 300 for lifting and moving, and delivery columns 119, 120 configured to receive storage containers 106 from the container handling vehicles 300. .

The rail system 108 includes a first set of parallel tracks 110 and a second set of parallel tracks 111, the first set of parallel tracks 110 extending in a horizontal plane (P). A second set of parallel tracks 111 arranged and extending in a first direction (X) are arranged in a horizontal plane (P) and extending in a first direction (X). and extends in a second direction (Y) perpendicular to the two directions. The first and second sets of tracks 110, 111 form a grid pattern in a horizontal plane (P) that includes a plurality of adjacent grid cells 122. Each grid cell 122 displays a grid opening that connects a pair of neighboring rails of the first set of rails 110 and a pair of neighboring rails of the second set of rails 111. is defined by the rails of

A plurality of stacks 107 are arranged in storage columns 105 positioned below rail system 108 , with each storage column 105 positioned vertically below grid cells 122 .

Each container handling vehicle 200, 300 is configured to travel on a rail system 108 above a storage column 105.

The delivery system 140 includes one or more of the delivery vehicles 30 as described above, i.e., one or more delivery columns 119, 120 and one or more of the delivery columns 119, 120 and one or more located outside the storage grid 104. A delivery vehicle 30 is configured to receive and support storage containers 106 for transportation to and from a plurality of container handling stations 160 . Container handling station 160 may be positioned at any suitable predetermined location for handling containers.

Delivery system 140 may further include a delivery rail system 50 located below delivery ports 150 of one or more delivery columns 119, 120.

As shown in FIGS. 6A-6B, delivery rail system 50 may be constructed in the same or similar manner as rail system 108 for container handling vehicles 200, 300. The delivery rail 50 extends from the delivery port 150 of the at least one or more delivery columns 119, 120 into at least one container access station 60 and to an access point 65 for accessing the respective delivery vehicle. 30 is movable into the at least one container accessing station 60 toward an access point 65 of the container accessing station 60 , where the storage container 106 is movable into the storage container 106 . Items held in can be accessed.

The container access station may include a cabinet 60 that includes a wall and a top cover supported thereon. Items held in storage container 106 being transported by delivery vehicle 30 at access point 65 are accessible through opening 63 in the top cover.

Cabinet 60 is positioned adjacent storage grid 104 and delivery rail system 50 extends from below delivery port 150 to or into the interior volume of cabinet 60 .

The delivery rail system can be a single rail system or a double rail system, or a combination of the two.

Delivery rail system 50 can include at least a first set of parallel rails and at least a second set of parallel tracks, with the first set of parallel rails extending in a horizontal plane ( P1) and extending in a first direction (X), a second set of parallel tracks are arranged in a horizontal plane (P1) and extending in a first direction (X); , the first and second sets of rails together define a distribution grid 51 of distribution grid cells 52 .

Delivery rail system 50 may be fully or partially integrated into storage grid 104. 6A and 6B show a delivery rail system 50 that is partially integrated into a storage grid, with the portion of the delivery rail system 50 that is positioned outside of the storage grid being removed by a cabinet 61. Covered. Cabinet 61 may be provided with six grid cells located within the interior volume of cabinet 61. Delivery grid 51 includes one or more delivery grid cells 52 for remotely operated delivery vehicles 30 at access point 65 and a plurality of delivery grids adjacent to one or more delivery grid cells 52 at access point 65 . cells 52 such that there are two or more routes to and/or from access points 65 for remotely operated delivery vehicles 30 through multiple delivery grid cells 52. It has become.

Access point 65 is associated with a dedicated location within container accessing station 60 where product items are removed from or positioned within storage container 106. .

The cabinet can include a wall and a top cover supported thereon. Items held in storage container 106 being transported by delivery vehicle 30 at access point 65 are accessible through opening 63 in the top cover.

The delivery rail system 50 extends from a location vertically below the delivery port 150 to or into a container access station 60 such that the remotely operated delivery vehicle 30 is connected to the delivery port 150 and the container handling station 60 . It is arranged for the transportation of storage containers to and from the access point 65 of the station 60.

FIG. 6B shows the delivery system of FIG. 6A without the storage grid 104.

Container access station 60 may be positioned above the ground floor level as shown in FIGS. 6A and 6B, with storage containers 106 accessible to human and/or robotic operators at access points 65. It is as it is.

A delivery port 150 may be located above mezzanine level 151 of storage grid 104 and provided below mezzanine level 151 for delivering storage containers 106 to or receiving storage containers 106 from delivery port 150. A delivery vehicle can operate on the delivery rail 50 that has been provided. Mezzanine 155 is therefore adapted to the overall height of storage container 106 and delivery rail system 50 when positioned above delivery vehicle 30.

Furthermore, the extent of mezzanine 155 in the horizontal plane depends on the total number of distribution columns arranged in the storage grid. Accordingly, the number of delivery columns 119, 120 and the extent of mezzanine 155 in the X and Y directions may be customized according to the size of the storage system and the desired efficiency of the system.

Container access station 160 is an optional means for protecting human operators from delivery system components (rails and delivery vehicles) and for allowing easy handling of storage container 106 and its contents. Further definitions may be made. In other words, it provides a barrier between the human operator and the components of the delivery system.

To ensure effective operation, the delivery rail system 50 has a horizontal extent that covers the lower delivery port 150 of at least one of the delivery columns 119 , 120 and outside of the storage grid 104 . It may be considered advantageous to extend up to The configuration of the present invention shown in FIGS. 7A and 7B allows multiple delivery vehicles 30 to operate on delivery rail system 50 while avoiding crowding of storage containers around delivery column 150. Make it.

FIGS. 7 and 8 illustrate three container access stations 60, each including a cabinet 60 including a wall and a top cover supported thereon, and an access point. Items held within the storage container 106 being transported by the remotely operated delivery vehicle 30 at 65 are accessible through an opening 63 in the top cover.

Openings 63 in the top cover are positioned directly above delivery grid cells 52 that define access points 65.

Access point 65 may include one single grid cell of distribution grid 50, or access point 65 may include two or more distribution grid cells 52. When delivery vehicle 30 is positioned at access point 65 , it is operated to allow a human operator and/or robotic operator to access the contents of storage container 106 .

As shown in FIGS. 8A-8B, delivery vehicle 30 has more than one path to and/or from access point 65 through multiple delivery grid cells 52. . This allows the operator to adjust the order in which delivery vehicles 30 may enter or exit access points 65.

The delivery vehicle 30 of FIGS. 8A and 8B is capable of entering the access point 65 at a first end and exiting the access point 65 at a second end such that the storage containers 106 are sequentially The user can enter and exit the access point 65 at any time.

To enhance visibility, easier access, and a better working position for the human operator accessing the storage container 106 at the access point 65, the delivery vehicle 30 is in a position where the container is tilted toward the human operator. can be operated in any state. 8A and 8B show the container of delivery vehicle 30 in a tilted position at access point 65. FIG.

FIG. 9A shows a perspective view of an automated warehouse system in combination with a secondary distribution system including a conveyor. Conveyors are arranged for the transportation of goods between an automated warehouse system and another storage facility, production facility, etc. Goods may be handled in storage containers 106 for further transport to storage grid 104 at container access station 60, or they may be handled in storage containers 106 for transport to other facilities. can be collected on a conveyor from

Container access station 60 in FIGS. 9A and 9B includes a wall 62 to separate delivery grid 51 and delivery vehicle 30 from a human operator.

Access point 65 is located at a location where items held within storage container 106 being transported by remote-controlled delivery vehicle 30 can be reached by a robotic or human operator leaning against wall 62 . , is an area corresponding to one or more delivery grid cells 52 of the delivery grid 51 arranged on the delivery grid 51 side of the wall portion 62.

In FIGS. 9A and 9B, the access point may include multiple separate distribution grid cells 52, thus allowing a human operator to access six different storage containers at the access point.

Delivery vehicles 30 may be operated at a suitable location at access station 65 such that they are tipping container carrier 35 and storage container 106 .

FIG. 10 shows a top view of the embodiment of FIG. 9A on a larger scale. The storage system includes two storage grids 104 and the delivery rail system 50 of the delivery system 140 is arranged such that it connects the two separate storage grids 104. In this manner, storage containers 106 may be transported between two separate storage grids 104 and between two storage grids 104 and container access station 60.

30 delivery vehicle 31 vehicle body 32 rolling device 32a first set of wheels 32b second set of wheels 35 container carrier 36 conveyor roll 41 displacement device 42 tilt motor 43 power supply 44 controller 45 lifting arm 50 delivery rail system 51 delivery Grid 52 Delivery grid cell 60 Container access station 61 Cabinet 62 Wall 63 Cabinet opening top cover 65 Access point P1 Horizontal plane of the delivery rail system 100 Framework structure 102 Upright members of the framework structure 103 Frame Horizontal members of the workpiece structure 104 Storage grid/three-dimensional grid 105 Storage column 106 Storage container 107 Stack 108 Rail system 110 First set of parallel rails in a first direction (X) 111 Second direction ( second set of parallel rails to Y) 115 grid opening 119 delivery column 120 delivery column 122 grid cell 140 delivery system 150 delivery port 151 mezzanine level 155 mezzanine 200 first container handling vehicle 201 wheel arrangement 300 second Container handling vehicle 301 Wheel structure X First direction Y Second direction P Horizontal plane of rail system

Claims (8)

a storage grid (104) for storage of storage containers (106); and a delivery system (140), comprising a delivery port (150) of said storage grid (104) and an access point (65) of the delivery system (140). the delivery system (140) for transportation of the storage container (106) to and from the storage container (106), and the access point (65) is configured to transport the storage container (106) into the storage container (106) by a robotic or human operator. an automated warehouse system adapted for handling held items, wherein the delivery port (150) is a port through which the storage container enters or exits the storage grid (104); ,
The delivery system (140) includes:
- a delivery rail system (50) comprising at least a first set of parallel rails and at least a second set of parallel rails, said first set of parallel rails in a horizontal plane (P1); and extending in a first direction (X), said second set of parallel rails being arranged in said horizontal plane (P1) and extending in said first direction extending in a second direction (Y) orthogonal to (X), said first and second sets of rails together defining a distribution grid (51) of distribution grid cells (52). A delivery rail system (50),
- the access point (65);
- a remote-controlled delivery vehicle (30), the remote-controlled delivery vehicle (30) including a motorized vehicle body (31) and a container carrier (35); is provided on the motorized vehicle body for transporting a storage container (106) of the plurality of storage containers (106), and the delivery vehicle (30) is connected to the delivery rail system. a remotely controlled delivery vehicle (30) movable on the delivery grid (51) of (50);
The delivery grid (51) comprises one or more delivery grid cells (52) for the remotely operated delivery vehicle (30) at the access point (65) and one or more delivery grid cells (52) for the remote controlled delivery vehicle (30) at the access point (65). a plurality of delivery grid cells (52) adjacent to one or more delivery grid cells (52), and the remotely operated delivery vehicle (30) via the plurality of delivery grid cells (52) There are two or more routes to and/or from the access point (65) for
The remotely operated delivery vehicle (30) transports the storage container (106) from the delivery port (150) of the storage grid (104) across the delivery grid (51) to the access point (65). and arranged to return the storage container (106) to the delivery port (150) for storage within the storage grid (104);
The access point (65) is provided in a container access station (60) , which is connected to the delivery rail system (50) and the remotely operated delivery vehicle. (30) arranged to separate the robot operator or human operator from the
The container access station (60) includes a cabinet (61), the cabinet (61) includes a wall and a top cover supported on the wall, the access point (65) ) the items held in the storage container (106) being transported by a remotely operated delivery vehicle (30) are accessible through an opening (63) in the top cover; An automated warehouse system characterized by: The automated warehouse system of claim 1, wherein the distribution grid (51) extends into the container access station (60). Said delivery rail system (50) provides a delivery grid (51) comprising three or more adjacent rows of delivery grid cells (52) extending into said container accessing station (60). The automated warehouse system according to item 1 or 2. The delivery rail system (50) is mounted on top of a delivery vehicle (30) during transportation between the delivery port (150) of the storage grid (104) and the container access station (60). Automated warehouse system according to any one of claims 1 to 3, comprising at least one transfer zone for temporarily storing storage containers (106). The delivery vehicle (30) is
- on both sides of the motorized vehicle body part (31) for moving the remote-controlled delivery vehicle (30) along a first direction (X) on the delivery rail system (50); a first set of wheels (32a) disposed in the section;
- on both sides of the motorized vehicle body part (31) for moving the remote-controlled delivery vehicle (30) along the second direction (Y) on the delivery rail system (50); a second set of wheels (32b) arranged in the section, said second direction (Y) being perpendicular to said first direction (X); a wheel (32b);
- a power source (43) configured to provide propulsion;
Claims 1 to 4, wherein the remotely operated delivery vehicle (30) is arranged to operate self-propelled on the delivery rail system (50) to the container access station ( 60 ). The automated warehouse system according to any one of the above. The container carrier (35) of the remotely operated delivery vehicle (30) may be maneuvered into a position tilted relative to the vehicle body (31) at the container access station (60); An automated warehouse system according to any one of claims 1 to 5. A method of operating a remotely operated delivery vehicle (30) into and out of an access point (161) of a delivery rail system in a delivery system (140) , the access point (65) ) a location on said delivery rail system for a robotic or human operator to access items held in a storage container (106) that has been delivered to a storage container (106);
The delivery system (140) includes:
- a delivery rail system (50) comprising at least a first set of parallel rails and at least a second set of parallel rails, said first set of parallel rails in a horizontal plane (P1); and extending in a first direction (X), said second set of parallel rails being arranged in said horizontal plane (P1) and extending in said first direction extending in a second direction (Y) orthogonal to (X), said first and second sets of rails together defining a distribution grid (51) of distribution grid cells (52). A delivery rail system (50),
- the access point (65); and - a remote-controlled delivery vehicle (30), the remote-controlled delivery vehicle (30) having a motorized vehicle body (31) and a container carrier (35). wherein the container carrier (35) is provided on the motorized vehicle body and is adapted to transport the storage container (106), and the delivery vehicle (30) is mounted on the delivery rail. a remotely operated delivery vehicle (30) movable on the delivery grid (51) of the system (50);
Said delivery grid (51) comprises one or more delivery grid cells (52) for said remotely operated delivery vehicle (30) at said access point (65) and said delivery grid cell (52) for said remote controlled delivery vehicle (30) at said access point (65). a plurality of delivery grid cells (52) adjacent to the grid cell (52); and said access for said remotely operated delivery vehicle (30) via said plurality of delivery grid cells (52). There are two or more routes to and/or from said access point (65);
The access point (65) is provided in a container access station (60) , which is connected to the delivery rail system (50) and the remotely operated delivery vehicle. (30) arranged to separate the robot operator or human operator from the
The container access station (60) includes a cabinet (61), the cabinet (61) includes a wall and a top cover supported on the wall, the access point (65) ) is accessible through an opening (63) in the top cover;
The method includes:
a) operating said delivery vehicle (30) to send said Directing the delivery vehicle (30);
b) from one of said plurality of distribution grid cells (52) adjacent to said one or more distribution grid cells (52) of said access point (65) to said one at said access point (65); or operating the delivery vehicle (30) to enter the delivery grid cell (52) of a plurality of grid cells (52);
c) enabling the robotic or human operator to access the items held in the storage container at the access point (65);
d) towards one of said plurality of distribution grid cells (52) adjacent to said one or more distribution grid cells (52) of said access point (65); operating the delivery vehicle to exit one or more delivery grid cells (52). 8. A method according to claim 7, wherein the distribution grid (51) extends into the container access station (60).

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